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Published 20 hours ago • verified publisher icon ihmcrobotics

RobotDescription can be generated by reading a URDF

Open dljsjr opened this issue 9 years ago • 2 comments

dljsjr avatar Sep 14 '16 19:09 dljsjr

Just updating this, parsing the core of URDF is pretty straight forward but parsing the <gazebo></gazebo> extensions is proving to be a little difficult because of the way that the OSRF allows for those tags to contain arbitrary XML that just gets inlined when converting to SDF. Because we're not converting to SDF but actually trying to parse and construct a sim-ready model with sensors from these model descriptions, it's tricky to get JAXB's model of how XML should be formatted with this really weird edge case in URDF.

Solvable, just going to take a while.

dljsjr avatar Feb 16 '17 22:02 dljsjr

Parsing the Gazebo extensions is now (seemingly) fixed in the above referenced commit (fe63e48). Work can resume on generating RobotDescription from URDF.

dljsjr avatar Feb 18 '17 00:02 dljsjr

Done with URDFTools in SCS 2.

calvertdw avatar Dec 30 '23 20:12 calvertdw